Positioning an object with respect to a target location

ABSTRACT

Systems and methods are provided for positioning an object with respect to a target location, such as for auto-focusing. One implementation includes a positioning device, which includes a reference object having a plurality of dark-shaded bars arranged in parallel with and separated from each other by spaces equal to a width of each of the bars. The positioning device also includes a motor configured to move in a reciprocating manner and a sensor configured to sense at least one of the bars or spaces. The motor is connected to the reference object or the sensor and moves the reference object or sensor with respect to the other. The motor is configured to stop at a target location in two phases of motion.

FIELD OF THE INVENTION

The present invention relates to systems and methods for positioning anobject with respect to a target location and more particularly relatesto motor control systems and methods for quickly and accuratelypositioning an object.

BACKGROUND

In various environments where optical devices are used to focus on animage or object, achieving a quality image hinges on the accuracy of thefocusing process. To simplify the use of some optical equipment, thetechnology of automatic focusing can be used. Auto-focusing is used in avariety of applications, such as in digital cameras and video cameras.Auto-focus is also used in barcode scanners, precision drafting devices,mechanical actuators, and other devices. In particular, a barcodescanner may comprise an optical grid used in the focusing process.

As used herein, the term “optical grid” may represent a linear ortwo-dimensional arrangement of optical elements uniformly arranged witha predetermined spacing between them. The optical grid may include lightsources for emitting beams of light and light sensors for detecting thelight that is reflected off of an image or transmitted through an image.The light sources and light sensors may be paired in a one-to-one ratio.The sensors can be used for distinguishing between dark-shaded or opaqueportions and light-shaded or transparent portions of the optical grid.

The auto-focusing device may also include components, such as arange-finder, for calculating the distance to an object. Range-finderscan utilize acoustic reflective methods, stereoscopic optical methods,time-of-flight optical methods, patterned light, and other methods knownin the art. In one example, a single laser can use the principle ofparallax to determine distance. From the calculated distance, a lens canbe moved to a target location for auto-focusing. A need exists forcontrolling quickly and accurately the movement of a device (e.g., alens) for the purpose of auto-focusing or for other similar purposesrelated to positioning an object at or near a target location. In thisregard, any improvements in the ability to position quickly andaccurately an object can be beneficial in auto-focusing technologiesused for cameras, barcode scanner, and other devices that may utilizeauto-focusing. The process of positioning any object at any targetlocation quickly and accurately is desired in other fields as well.

SUMMARY

Accordingly, the present invention embraces systems and methods forpositioning an object at or near a target location. One method describedin the present disclosure includes a first step of providing an opticalgrid having a first set of optical elements and a second set of opticalelements, whereby the first set of optical elements is opticallydistinguishable from the second set of optical elements. The methodfurther includes continuously moving first and second optical sensors ina forward direction and at a constant speed with respect to the firstand second sets of optical elements. The first and second opticalsensors are offset from each other by a predetermined distance, whereintransitions are encountered when one of the optical sensors senses oneof the first set of optical elements and the other of the opticalsensors senses one of the second set of optical elements. Also, themethod includes sensing when one of the optical sensors reaches a targetlocation and beginning a clock cycle counter when the target location isreached. The method also includes encountering a first transition beyondthe target location. The clock cycle counter is stopped when the firsttransition beyond the target is encountered to obtain a first clockcycle count. The method also includes continuously moving the first andsecond optical sensors in the forward direction at the constant speeduntil at least a second optical transition beyond the target isencountered and then stopping the movement of the first and secondoptical sensors in the forward direction. The method further includesthe step of reversing the direction of movement of the first and secondoptical sensors and continuously moving the first and second opticalsensors in a reverse direction and at the constant speed. Then, thefirst transition beyond the target location is encountered again and astep is executed for beginning the clock cycle counter when the firsttransition beyond the target is encountered in the reverse direction.The method includes stopping the movement of the first and secondoptical sensors when the clock cycle counter reaches the first clockcycle count.

In another exemplary embodiment, a positioning device is described inthe present disclosure. The positioning device comprises a referenceobject including a plurality of dark-shaded bars arranged in paralleland separated from each other by spaces equal to a width of each of thebars. The positioning device further includes a motor configured to movein a reciprocating manner with respect to the bars. Also, thepositioning device includes first and second sensors connected to themotor, where each of the first and second sensors is configured to senseone of the bars or spaces. The motor is configured to stop at a targetlocation in two phases of motion.

The present disclosure also defines a non-transitory computer-readablemedium configured to store a processing sequence executable by aprocessing device. The processing sequence comprises a sensor motionunit for controlling the movement of at least one sensor in a firstdirection at a constant velocity with respect to a pattern of opticallyalternating shades. The processing sequence also includes a transitiondetecting unit for detecting when the at least one sensor encounterstransitions between the optically alternating shades. Furthermore, theprocessing sequence includes a target detecting unit for detecting afirst time when the at least one sensor encounters a target location.Also, the processing sequence comprises a clock cycle counting unit forcounting a number of clock cycles from a time when the target detectingunit first encounters the target location to a time when the transitiondetecting unit encounters a first transition beyond the target location.

The foregoing illustrative summary, as well as other exemplaryobjectives and/or advantages of the invention, and the manner in whichthe same are accomplished, are further explained within the followingdetailed description and its accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically depicts a barcode scanning system according to anembodiment of the present invention.

FIG. 2 schematically depicts electrical and mechanical components of apositioning device incorporated in the barcode scanner shown in FIG. 1according to an embodiment of the present invention.

FIG. 3A schematically depicts a reference object of an optical gridaccording to an embodiment of the present invention.

FIG. 3B schematically depicts the reciprocating device shown in FIG. 2according to a first embodiment of the present invention.

FIG. 3C schematically depicts the reciprocating device shown in FIG. 2according to another embodiment of the present invention.

FIG. 4 schematically depicts the positioning module shown in FIG. 2according to an embodiment of the present invention.

FIG. 5 graphically depicts the velocity of the motor shown in FIG. 3according to an embodiment of the present invention.

FIG. 6 graphically depicts the operation of the reciprocating deviceshown in FIG. 2 in spatial relationship with the reference object shownin FIG. 3A according to an embodiment of the present invention.

FIG. 7 schematically depicts a flow diagram showing the operation of thepositioning module shown in FIG. 2 according to an embodiment of thepresent invention.

DETAILED DESCRIPTION

The present invention is directed to systems and methods for positioningan object with respect to a target location. For example, the presentinvention may be incorporated in or may include barcode scanners orother devices (e.g., auto-focus cameras) that utilize a motor forpositioning a lens at an optimum location for greatest focus.

FIG. 1 illustrates an embodiment of a barcode scanning system 10including a barcode scanner 12 and a barcode 14. It should be understoodthat the barcode scanner 12 may be used to scan other barcodes and thebarcode 14 can be scanned by other barcode scanners. The barcode 14, asis known, includes a number of parallel lines 16 or bars having variouswidths. The lines 16 of the barcode 14 are separated from each other byspaces 18 also having various widths. The barcode scanner 12 includes ahousing 20 that contains barcode scanning components therein.

FIG. 2 is a block diagram showing an embodiment of a positioning device24, which may be housed within the housing 20 of the barcode scanner 12.According to other embodiments, the positioning device 24 may be used inother devices that perform an auto-focusing feature or that perform aposition feature for positioning a lens or other object at a targetlocation.

The positioning device 24 includes both electrical and mechanicalcomponents. The electrical components of the positioning device 24include a processor 26, a clock 28, a memory device 30, and a motorcontroller 32. The mechanical component of the positioning device 24includes a reciprocating device 34, which moves in forward and reversedirections and is controlled by electrical signals from the motorcontroller 32.

In some embodiments, the memory device 30 may store a positioning module36, which is configured to include logic that is utilized by theprocessor 26 as instructions so as to enable the processor 26 toposition the reciprocating device 34 with respect to a target location.According to various embodiments of the present invention, thepositioning module 36 may be configured as software, hardware, firmware,and/or any suitable combination of these. Software of the positioningmodule 36 may be stored in the memory device 30, while hardware may beconfigured in the processor 26 or other micro-processing devices of thepositioning device 24.

FIG. 3A illustrates an embodiment of a reference object 37 having anumber of parallel dark-shaded or opaque bars 38, each having the samewidth. The reference object 37 also includes light-shaded or transparentbars 40 or spaces, which separate the dark-shaded bars 38. Each of thelight-shaded bars 40 includes the same width, which is also the samewidth as that of the dark-shaded bars 38.

FIG. 3B illustrates a first embodiment of the reciprocating device 34shown in FIG. 2. The reciprocating device 34 is used in conjunction withthe reference object 37 of FIG. 3A. The reciprocating device 34,according to embodiments associated with FIG. 3B, includes a motor 42, alight source 44, and a light sensor 46. Other embodiments may includeone or more light sources 44 and at least the same number of lightsensors 46. The motor 42 (e.g., a piezo motor) may be directly connectedto a lens 48 or other object that is to be positioned at a desiredlocation. Therefore, the lens 48, motor 42, light source 44, and lightsensor 46 are connected together and move in unison in a reciprocatingmanner within the housing 20 of the barcode scanner 12. The movement ofthe reciprocating device may be transverse to the parallel bars 38, 40of the reference object 37 shown in FIG. 3A.

FIG. 3C illustrates a second embodiment of the reciprocating device 34shown in FIG. 2. According to this embodiment, the reciprocating device34 includes the reference object 37 of FIG. 3A. The reciprocating device34, according to embodiments associated with FIG. 3C, includes the motor42 and the reference object 37. The motor 42 moves the reference object37 with respect to the light source 44 and the light sensor 46 connectedat a fixed location inside the housing 20 of the barcode scanner 12. Asmentioned above, other embodiments may include one or more light sources44 and at least the same number of light sensors 46. The motor 42 may bedirectly connected to the lens 48 or other object that is to bepositioned at a desired location. Therefore, the lens 48, motor 42, andreference object 37 are connected together and move in unison in areciprocating manner within the housing 20 of the barcode scanner 12.The reciprocating device 34 may be moved in this embodiment such thatthe direction of movement is perpendicular to the parallel bars 38, 40of the reference object 37.

In operation, a target location of the lens (or other object) isdetected or known with respect to the reference object 37. The locationmay be calculated based on range-finding components in the barcodescanner 12. The range-finding components determine a distance to asubject (e.g., the barcode 14) and correlate this distance to a targetlocation on the reference object 37. For instance, the target locationmay be determined for providing the best location for focusing otherlight sensing elements for sensing reflections of light beams from alaser source of the barcode scanner 12 off of the subject (e.g., thebarcode 14).

FIG. 4 illustrates an embodiment of the positioning module 36 shown inFIG. 2. In this embodiment, the positioning module 36 includes a signalprocessing unit 50, a motion control unit 52, a transition detectingunit 54, a target detecting unit 56, and a clock cycle counter unit 58.The signal processing unit 50 receives signals from the sensor 46 orsensors and interprets these signals. The motion control unit 52controls the movements of the motor 42, which thereby moves the sensor46 with respect to the reference object 37 (FIG. 3B) or moves thereference object 37 with respect to the sensor 46 (FIG. 3C).Particularly, the motion control unit 52 controls the stopping andstarting of the motor and the direction of travel of the motor (e.g.,forward or reverse).

The transition detecting unit 54, in some implementations, may be partof the signal processing unit 50 and is used for detecting when theposition of the motor is at a transition or border between one of thedark-shaded bars 38 and one of the light-shaded bars 40.

The target detecting unit 56 may receive input from a separate sensorfor determining the range or distance to a subject. Thus, when thesubject is in focus using a range-finding device, the target detectingunit 56 notes that corresponding location with regard to the relativelocation of the light sensor 46 with respect to the reference object 37.The details of the process of detecting the target location aredescribed below with respect to FIG. 6.

The clock cycle counter unit 58 operates in conjunction with the signalprocessing unit 50 based on signals detected by the transition detectingunit 54 and target detecting unit 56. For example, a process forpositioning the lens 48 at an optimum location for greatest focus mayinclude a two-phase process according to the teachings of the presentinvention.

The two-phase process includes a first phase that involves the motioncontrol unit 52 moving the motor 42 (and either the sensor 46 as in FIG.3B or the reference object 37 as in FIG. 3C) in a first (forward)direction at a constant velocity. The transition detecting unit 54 maybe used at this point to determine when a constant velocity is reached,such as by timing from one transition to the next until the times arethe same. When the target detecting unit 56 detects the target location,the clock cycle counter unit 58, which has been reset to zero, beginscounting the number of clock cycles until the next transition beyond thetarget location is detected by the transition detecting unit 54.

In the meantime, the motion control unit 52 is moving the motor 42 alongin the forward direction at the constant speed and continues to move themotor 42 well beyond the first transition encountered after the targetlocation. After at least one additional transition is detected by thetransition detecting unit 54, the motion control unit 52 is configuredto stop the motion in the first (forward) direction, which is the end ofthe first phase.

The second phase begins when the motion control unit 52 reverses themotion of the motor 42 so that it travels in a second (reverse)direction. The reason for travelling well beyond the first transition inthe first phase is that when the motion control unit 52 reverses thedirection, it takes a short amount of time at the beginning of thesecond phase for the motor 42 to reach a constant speed.

By the time that the first transition beyond the target is encounteredagain (this time in the reverse direction), the velocity of the motor isconstant. The transition detecting unit 54 detects that first transitionagain and the clock cycle counter unit 58, which again has been reset tozero, begins counting clock cycles a second time. When the clock cyclecount reaches the same count that was detected when the motor 42 wastravelling in the forward direction, the clock cycle counter unit 58signals the motion control unit 52 to stop the motor 42. Thus, the motor42 can be stopped accurately and quickly at the target location.

FIG. 5 shows a graph 60 depicting an exemplary operation of the motor 42shown in FIGS. 3B and 3C according to one implementation. The graph 60shows the velocity of the motor 42 over time when the motor 40 istravelling in either a forward direction or reverse direction. Thestages of velocity of the motor 40 can be defined by a first rest stage62, an acceleration stage 64, a constant velocity stage 66, adeceleration stage 68, and a second rest stage 70.

The time period for the first and second rest stages 62, 70 may includeany length of time and may even be zero if the operation of the motor 40immediately follows or is immediately followed by an operation of themotor 40 in the opposite direction. Also, the constant velocity stage 66may include an indefinite length of time and may even be zero if thedeceleration stage 68 closely follows the acceleration stage 64.

FIG. 6 is a graph 80 showing signals obtained by the light sensor 46.The graph 80 illustrates a small section of the dark-shaded or opaquebars 38 and light-shaded or transparent bars 40 of the reference object37. The graph 80 also shows a target location 82. The target location 82corresponds to the place where the motor 42 is to be positioned. Onegoal of the present invention includes positioning the motor 42 as closeto the target location 82 as quickly and accurately as possible.

In operation, the light source 44 illuminates the reference object 37.The light sensor 46 and reference object 37 are moved with respect toeach other by the motor 42 in a reciprocating fashion. In particular,the light sensor 46 or reference object 37 is moved while the otherremains fixed, whereby the relative direction of movement issubstantially perpendicular with respect to the bars 38, 40. At aconstant velocity, the light sensor 46 obtains signal A.

Light sensor 46 is configured to detect the light reflected from thebars 38, 40. Therefore, a dark-shaded bar 38 provides little or noreflection, designated by a low value (e.g., zero) in signal A and alight-shaded bar 40 provides great or maximum reflection, designed by ahigh value (e.g., one) in signal A.

Since the width of the dark-shaded bars 38 and light-shaded bars 40 areconfigured with equal widths in some embodiments, and since the bars 38,40 are scanned at a constant velocity, signal A will have a square-waveshape, as shown. It should be noted that signal A is illustrated withrespect to time, but is also matched up with the physical features ofthe reference object 37 in the physical realm to show the results obtainwith respect to the bars 38, 40 when scanned at a constant velocity.

Transitions 84, 86, 88, 90, 92, 94, and 96 are encountered when thelight sensor 46 detects a change from a dark-shaded bar 38 to alight-shaded bar 40 or from a light-shaded bar 40 to a dark-shaded bar38. As used herein, the term “transition” refers to the border betweenthe dark-shaded bars 38 and light-shaded bars 40. The transitions 84,86, 88, 90, 92, 94, and 96 can be utilized by the processor 26 as areference for locating the target 82 with respect to the bars 38, 40.

Also shown in the graph 80 of FIG. 6 is a first phase (Phase 1), whichshows the relative movement between the light sensor 46 and the bars 38,40 at a constant velocity in a first direction. Point i shows the pointwhen the target detecting unit 56 detects the target 82. At this point,the scanning continues at the constant velocity in the first directionand the clock cycle counter unit 58 is started. The clock cycle counterunit 58 is configured to count the number of clock cycles of the clock28 from the starting point i when it is first started until point iiwhen the first transition 90 beyond the target 82 is reached. At thispoint (i.e., point ii), the clock cycle counter unit 58 is stopped andthe number of clock cycles that were counted is stored in the memorydevice 30 to be used at a later time, as will be explained below.

Phase 1, showing the scanning in the first direction, continues at theconstant velocity beyond the target 82, beyond the first encounteredtransition 90, and beyond at least one additional transition (e.g., 92,94, 96). The reason for travelling beyond the target 82 to such anextent is that when the motor 40 decelerates (i.e., during thedeceleration stage 68) to a momentary stop and then immediately reversesdirection, the motor 40 must go through the acceleration stage 64 in thereverse direction to reach the constant velocity stage 66 before thefirst transition 90 beyond the target 82 is encountered again.

Phase 2, showing the scanning in the opposite direction from the firstdirection, includes accelerating to the constant velocity stage 66. Theat least one additional transition 92, 94, 96 is encountered duringPhase 2 and then the first transition 90 beyond the target 82 isencountered while travelling at a constant velocity. At point iii, thefirst transition 90 is encountered and the clock cycle counter unit 58,which has been reset, is started again. The clock count is compared withthe original clock count to determine when the same number of clockcounts is encountered in the reverse direction. When the clock countsare the same at point iv, the motor 42 stops at the target location 82.

FIG. 7 is a flow diagram showing an embodiment of a method 98 ofoperation of the positioning module 36 shown in FIGS. 2 and 4. Themethod 98 includes a first block 100, which indicates that a step isexecuted to control the movement in a first direction of a sensor (e.g.,sensor 46) with respect to a reference object (e.g., reference object37). According to the embodiments of FIGS. 3B and 3C, either the sensoror reference object can be moved with respect to the other. Block 102indicates that a step is executed to detect when the sensor encounterstransitions in the reference object (e.g., transitions fromwhite-to-black, black-to-white, light-to-dark, dark-to-light,transparent-to-opaque, opaque-to-transparent, etc.).

In block 104, the method 98 includes detecting when the target locationis encountered. For instance, the step depicted by block 104 may includea range-finding method, such as a single laser using parallax. Block 106indicates the step of counting the number of clock cycles from the timethe target location is encountered to the time when the first transitionbeyond the target location is encountered. After at least one additionaltransition is encountered, the direction of the sensors is reversed, asindicated in block 108. Reversing the direction of the sensors marks theend of Phase I and the start of Phase II, as mentioned above.

The method 98 of FIG. 7 further includes block 110, which indicates thata step is executed such that when the first transition beyond the targetlocation is encountered in the reverse direction, a new count begins tocount to the same clock cycle count as before. When the same clock cyclecount is reached, according to block 112, the sensor is stopped.

At this stopped location, the positioning process is complete and theobject to be moved has been quickly and accurately positioned at thedesired place. With respect to the barcode scanner 12, the process canbe used to position the location of a lens for focusing on the barcode14 at a target location defined as the optimum place to achieve thegreatest focus.

It should be understood that the routines, steps, processes, oroperations described herein may represent any module or code sequencethat can be implemented in software or firmware. In this regard, thesemodules and code sequences can include commands or instructions forexecuting the specific logical routines, steps, processes, or operationswithin physical components. It should further be understood that two ormore of the routines, steps, processes, and/or operations describedherein may be executed substantially simultaneously or in a differentorder than explicitly described, as would be understood by one ofordinary skill in the art.

To supplement the present disclosure, this application incorporatesentirely by reference the following commonly assigned patents, patentapplication publications, and patent applications:

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In the specification and/or figures, typical embodiments of theinvention have been disclosed. The present invention is not limited tosuch exemplary embodiments. The use of the term “and/or” includes anyand all combinations of one or more of the associated listed items. Thefigures are schematic representations and so are not necessarily drawnto scale. Unless otherwise noted, specific terms have been used in ageneric and descriptive sense and not for purposes of limitation.

1. A method for positioning an object, the method comprising the stepsof: providing an optical grid having a first set of optical elements anda second set of optical elements, the first set of optical elementsbeing optically distinguishable from the second set of optical elements;moving an optical sensor in a forward direction at a constant speed withrespect to the optical grid, wherein transitions are encountered whenthe optical sensor senses a border between one of the first set ofoptical elements and one of the second set of optical elements;beginning a clock cycle counter when a target location is reached;stopping the clock cycle counter when a first transition beyond thetarget location is encountered to obtain a first clock cycle count;continuously moving the optical sensor in the forward direction at theconstant speed until at least a second transition beyond the targetlocation is encountered; reversing the direction of movement of theoptical sensor and moving the optical sensor in a reverse direction andat the constant speed; resetting and beginning the clock cycle counter asecond time when the first transition beyond the target location isencountered in the reverse direction; and stopping the movement of theoptical sensor when the clock cycle counter reaches the first clockcycle count.
 2. The method of claim 1, wherein the optical sensor iscoupled in a fixed relationship to the object, whereby the object ispositioned with respect to the target location.
 3. The method of claim1, wherein the first set of optical elements includes a plurality ofparallel dark-shaded or opaque bars and the second set of opticalelements includes a plurality of parallel light-shaded or transparentbars, the dark-shaded or opaque bars being parallel with andinterspersed with the light-shaded or transparent bars.
 4. The method ofclaim 3, wherein the width of each of the bars of the first and secondsets of optical elements is the same.
 5. The method of claim 1, furthercomprising the step of utilizing a piezo motor to move the opticalsensor in the forward and reverse directions.
 6. The method of claim 1,wherein the target location is positioned between two adjacenttransitions.
 7. The method of claim 1, wherein the at least the secondtransition beyond the target location includes a plurality oftransitions. 8-20. (canceled)